JP7499797B2 - Route Generation Device - Google Patents

Route Generation Device Download PDF

Info

Publication number
JP7499797B2
JP7499797B2 JP2022008736A JP2022008736A JP7499797B2 JP 7499797 B2 JP7499797 B2 JP 7499797B2 JP 2022008736 A JP2022008736 A JP 2022008736A JP 2022008736 A JP2022008736 A JP 2022008736A JP 7499797 B2 JP7499797 B2 JP 7499797B2
Authority
JP
Japan
Prior art keywords
vehicle
route
unit
driving
host vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2022008736A
Other languages
Japanese (ja)
Other versions
JP2023107501A (en
Inventor
一貴 冨岡
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to JP2022008736A priority Critical patent/JP7499797B2/en
Priority to CN202310013706.0A priority patent/CN116476860A/en
Priority to US18/098,691 priority patent/US20230234608A1/en
Publication of JP2023107501A publication Critical patent/JP2023107501A/en
Application granted granted Critical
Publication of JP7499797B2 publication Critical patent/JP7499797B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/20—Lateral distance

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Description

本発明は、自動運転機能や運転支援機能を有する自車両の目標経路を生成する経路生成装置に関する。 The present invention relates to a route generation device that generates a target route for a vehicle that has an automatic driving function or a driving assistance function.

この種の装置として、従来、認識した白線に基づいて自車両の操舵角を設定するようにした運転支援装置が知られている（例えば特許文献１参照）。特許文献１記載の装置では、予め設定された予見時間経過後に自車両が存在すると予測される前方注視点が設定され、自車両の後方の隣車線に追越車両が存在すると、その追越車両から離間する方向に前方注視点がオフセットされる。 A known example of this type of device is a driving assistance device that sets the steering angle of the vehicle based on the recognized white lines (see, for example, Patent Document 1). In the device described in Patent Document 1, a forward gaze point is set at which the vehicle is predicted to be present after a preset prediction time has elapsed, and if an overtaking vehicle is present in the adjacent lane behind the vehicle, the forward gaze point is offset in a direction away from the overtaking vehicle.

自動運転機能や運転支援機能を有する車両が普及することで、交通社会全体の安全性や利便性が向上し、持続可能な輸送システムを実現することができる。また、輸送の効率性や円滑性が向上することで、ＣＯ2排出量が削減され、環境への負荷を軽減することができる。 The widespread use of vehicles with autonomous driving and driving assistance functions will improve the safety and convenience of the entire transportation society, and realize a sustainable transportation system. In addition, the improved efficiency and smoothness of transportation will reduce CO2 emissions and ease the burden on the environment.

特開２０１４－１２９０２１号公報JP 2014-129021 A

しかしながら、上記特許文献１に記載の装置のように追越車両から離間する方向に目標経路をオフセットする場合、追越車両が認識されるタイミングによっては走行経路が急変し、乗員に違和感を与えるおそれがある。 However, when offsetting the target route in a direction away from the overtaking vehicle as in the device described in Patent Document 1, the driving route may suddenly change depending on the timing at which the overtaking vehicle is recognized, which may cause discomfort to the occupants.

本発明の一態様である経路生成装置は、自車両の前方領域の物体を検出する検出部と、検出部により検出された物体のうち、自車両が走行する走行車線、走行車線に隣接する隣接車線、および隣接車線を走行する他車両を認識する前方認識部と、前方認識部により認識された前記走行車線に基づいて走行車線における自車両の基準経路を生成する基準経路生成部と、前方認識部により認識された他車両の側端部から走行車線に向けて安全領域を設定する安全領域設定部と、基準経路生成部により生成された基準経路に基づいて自車両の目標経路を生成する目標経路生成部と、を備える。目標経路生成部は、自車両からその前方の所定区間内において基準経路を目標経路に設定し、所定区間よりも前方において自車両と前方認識部により認識された他車両との間に安全領域設定部により設定された安全領域を確保するように基準経路を修正して目標経路を生成する。
 A path generation device according to one aspect of the present invention includes a detection unit that detects objects in a region ahead of a host vehicle, a forward recognition unit that recognizes, among the objects detected by the detection unit , a driving lane in which the host vehicle is driving, an adjacent lane adjacent to the driving lane , and another vehicle driving in the adjacent lane, a reference path generation unit that generates a reference path for the host vehicle in the driving lane based on the driving lane recognized by the forward recognition unit, a safety area setting unit that sets a safety area from a side end of the other vehicle recognized by the forward recognition unit toward the driving lane, and a target path generation unit that generates a target path for the host vehicle based on the reference path generated by the reference path generation unit. The target path generation unit sets the reference path as a target path within a predetermined section ahead of the host vehicle, and generates the target path by modifying the reference path so as to secure the safety area set by the safety area setting unit between the host vehicle and the other vehicle recognized by the forward recognition unit ahead of the predetermined section.

本発明によれば、目標経路の急変を抑制することができる。 The present invention makes it possible to suppress sudden changes in the target route.

目標経路について説明するための図。FIG. 4 is a diagram for explaining a target route. 目標経路の変化について説明するための図。FIG. 11 is a diagram for explaining a change in a target route. 本発明の実施形態に係る経路生成装置の要部構成および処理の流れを概略的に例示するブロック図。1 is a block diagram illustrating a schematic configuration of a main part and a processing flow of a route generation device according to an embodiment of the present invention; 図３の基準経路生成部および目標経路生成部による基準経路および目標経路の生成について説明するための図。4 is a diagram for explaining generation of a reference path and a target path by a reference path generating unit and a target path generating unit in FIG. 3 . 図４Ａの変形例を示す図。FIG. 4B is a diagram showing a modification of FIG. 4A. 本発明の実施形態に係る経路生成装置による経路生成処理の流れを例示するフローチャート。4 is a flowchart illustrating a flow of a route generation process performed by the route generation device according to the embodiment of the present invention.

以下、図１～図５を参照して本発明の実施形態について説明する。本発明の実施形態に係る経路生成装置は、自車両の運転者に対する運転支援を行うないし自車両を自動運転するように走行用アクチュエータを制御する運転支援機能を有する車両に適用され、自車両の目標経路（目標走行軌道）を生成する。本実施形態における「運転支援」は、運転者の運転操作を支援する運転支援と、運転者の運転操作によらず車両を自動運転する自動運転とを含み、ＳＡＥにより定義されるレベル１～レベル４の自動運転に相当し、「自動運転」は、レベル５の自動運転に相当する。 Below, an embodiment of the present invention will be described with reference to Figs. 1 to 5. A route generation device according to an embodiment of the present invention is applied to a vehicle having a driving assistance function that provides driving assistance to the driver of the vehicle or controls driving actuators to drive the vehicle automatically, and generates a target route (target driving trajectory) for the vehicle. "Driving assistance" in this embodiment includes driving assistance that assists the driver's driving operation and autonomous driving that drives the vehicle automatically without the driver's driving operation, and corresponds to autonomous driving levels 1 to 4 defined by the SAE, and "autonomous driving" corresponds to autonomous driving level 5.

図１および図２は、目標経路について説明するための図であり、自車両１が走行車線２の中央線２Ｃに沿って走行する走行シーンの一例を示す。この場合、カメラ等による車両前方の走行車線２の認識結果に基づいて例えば走行車線２の中央線２Ｃに沿った基準経路３ａが生成される。さらに、自車両１が走行する走行車線２に隣接する隣接車線５ａ，５ｂを走行する他車両４ａ，４ｂの認識結果に基づいて基準経路３ａが必要に応じて修正され、最終的な目標経路３ｂが生成される。より具体的には、自車両１と他車両４ａ，４ｂとの間に所定の安全領域６ａ，６ｂを確保するように基準経路３ａを修正して目標経路３ｂを生成する。基準経路３ａおよび目標経路３ｂは、最新の認識結果に基づいて単位時間毎に生成され、更新される。 1 and 2 are diagrams for explaining the target route, and show an example of a driving scene in which the host vehicle 1 drives along the center line 2C of the driving lane 2. In this case, a reference route 3a is generated, for example, along the center line 2C of the driving lane 2, based on the recognition result of the driving lane 2 in front of the vehicle by a camera or the like. Furthermore, the reference route 3a is corrected as necessary based on the recognition result of other vehicles 4a, 4b driving in adjacent lanes 5a, 5b adjacent to the driving lane 2 in which the host vehicle 1 drives, and the final target route 3b is generated. More specifically, the reference route 3a is corrected to generate the target route 3b so as to secure predetermined safety areas 6a, 6b between the host vehicle 1 and the other vehicles 4a, 4b. The reference route 3a and the target route 3b are generated and updated every unit time based on the latest recognition result.

運転支援中ないし自動運転中は、目標経路３ｂに沿って走行するように自車両１の転舵機構が制御されるほか、他車両４ａ，４ｂとの間の距離に応じて車速を調整し、他車両４ａ，４ｂとの衝突を回避するように駆動機構や制動機構が制御される。このため、安全領域６ａ，６ｂを考慮せずに目標経路３ｂを生成したとしても安全が確保される。安全領域６ａ，６ｂは、自車両１と他車両４ａ，４ｂとの距離が近い場合に乗員が感じ得る不安を軽減するために考慮される。 During driving assistance or automatic driving, the steering mechanism of the vehicle 1 is controlled to travel along the target route 3b, and the vehicle speed is adjusted according to the distance between the vehicle and the other vehicles 4a, 4b, and the drive mechanism and braking mechanism are controlled to avoid collision with the other vehicles 4a, 4b. Therefore, safety is ensured even if the target route 3b is generated without considering the safety areas 6a, 6b. The safety areas 6a, 6b are taken into consideration to reduce anxiety that the occupants may feel when the vehicle 1 is close to the other vehicles 4a, 4b.

しかしながら、図２に例示するように、車幅が大きい大型トラック等、自車両１が走行する走行車線２に寄って走行する他車両４ａにより自車両１が追越された場合、追越直後に目標経路３ｂが急変することがあり、かえって乗員に不安を感じさせるおそれがある。すなわち、追越直後の最新の認識結果に基づいて自車両１と他車両４ａとの間に安全領域６ａが確保されていないと判定されると、安全領域６ａを確保するように基準経路３ａ（直前の目標経路３ｂ）が修正されることで、目標経路３ｂが急変する。そこで、本実施形態では、このような目標経路３ｂの急変を抑制することができるよう、以下のように経路生成装置を構成する。 However, as illustrated in FIG. 2, when the host vehicle 1 is overtaken by another vehicle 4a, such as a wide truck, traveling close to the driving lane 2 in which the host vehicle 1 is traveling, the target route 3b may suddenly change immediately after the overtaking, which may make the occupants feel uneasy. In other words, if it is determined that a safety area 6a is not secured between the host vehicle 1 and the other vehicle 4a based on the latest recognition result immediately after the overtaking, the reference route 3a (the immediately preceding target route 3b) is corrected so as to secure the safety area 6a, causing a sudden change in the target route 3b. Therefore, in this embodiment, the route generation device is configured as follows to suppress such a sudden change in the target route 3b.

図３は、本発明の実施形態に係る経路生成装置（以下、装置）１００の要部構成および処理の流れの一例を概略的に示すブロック図である。図３に示すように、装置１００は、主に電子制御ユニット（ＥＣＵ）１０により構成される。ＥＣＵ１０は、ＣＰＵ等の演算部、ＲＡＭ，ＲＯＭ等の記憶部、Ｉ／Ｏインタフェース、その他の周辺回路を有するコンピュータを含んで構成される。ＥＣＵ１０は、例えば自車両１に搭載されて自車両１の動作を制御する複数のＥＣＵ群の一部として構成される。図３の処理は、例えば自車両１が始動してＥＣＵ１０が起動されると開始され、所定周期で繰り返される。 Figure 3 is a block diagram showing an example of the main configuration and processing flow of a route generation device (hereinafter, device) 100 according to an embodiment of the present invention. As shown in Figure 3, the device 100 is mainly composed of an electronic control unit (ECU) 10. The ECU 10 includes a computer having a calculation unit such as a CPU, storage units such as a RAM and a ROM, an I/O interface, and other peripheral circuits. The ECU 10 is mounted on, for example, the host vehicle 1 and is configured as part of a group of multiple ECUs that control the operation of the host vehicle 1. The processing in Figure 3 is started, for example, when the host vehicle 1 starts and the ECU 10 is activated, and is repeated at a predetermined interval.

ＥＣＵ１０には、自車両１に搭載された走行用アクチュエータ７と、車速センサ８と、外部センサ９とが接続される。走行用アクチュエータ７には、自車両１を駆動するエンジンやモータなどの駆動機構、自車両１を制動するブレーキなどの制動機構、自車両１を転舵させるステアリングギアなどの転舵機構が含まれる。車速センサ８は、例えば車輪の回転速度を検出する車輪速センサにより構成され、車速Ｖを検出する。 The ECU 10 is connected to a driving actuator 7 mounted on the host vehicle 1, a vehicle speed sensor 8, and an external sensor 9. The driving actuator 7 includes a drive mechanism such as an engine or a motor that drives the host vehicle 1, a braking mechanism such as a brake that applies brakes to the host vehicle 1, and a steering mechanism such as a steering gear that steers the host vehicle 1. The vehicle speed sensor 8 is, for example, a wheel speed sensor that detects the rotational speed of the wheels, and detects the vehicle speed V.

外部センサ９は、自車両１の前方領域の物体の位置を含む外部状況を検出する。外部センサ９は、ＣＣＤやＣＭＯＳ等の撮像素子を有し、自車両１の前方を撮像するカメラ９ａと、自車両１から前方領域の物体までの距離を検出する距離検出部９ｂとを含む。距離検出部９ｂは、例えば、ミリ波（電波）を照射し、照射波が物体に当たって戻ってくるまでの時間から、その物体までの距離や方向を測定するミリ波レーダにより構成される。距離検出部９ｂは、レーザ光を照射し、照射光が物体に当たって戻ってくるまでの時間から、その物体までの距離や方向を測定するライダ（ＬｉＤＡＲ）により構成されてもよい。 The external sensor 9 detects the external situation including the position of objects in the area ahead of the vehicle 1. The external sensor 9 has an imaging element such as a CCD or CMOS, and includes a camera 9a that images the area ahead of the vehicle 1, and a distance detection unit 9b that detects the distance from the vehicle 1 to objects in the area ahead. The distance detection unit 9b is, for example, configured with a millimeter wave radar that irradiates millimeter waves (radio waves) and measures the distance and direction to the object from the time it takes for the irradiated waves to hit the object and return. The distance detection unit 9b may also be configured with a lidar (LiDAR) that irradiates laser light and measures the distance and direction to the object from the time it takes for the irradiated light to hit the object and return.

ＥＣＵ１０は、演算部の機能的構成として、前方認識部１１と、基準経路生成部１２と、安全領域設定部１３と、目標経路生成部１４と、走行制御部１５とを有する。すなわち、ＥＣＵ１０の演算部は、前方認識部１１と、基準経路生成部１２と、安全領域設定部１３と、目標経路生成部１４と、走行制御部１５として機能する。 The ECU 10 has, as the functional configuration of the calculation unit, a forward recognition unit 11, a reference path generation unit 12, a safety area setting unit 13, a target path generation unit 14, and a driving control unit 15. That is, the calculation unit of the ECU 10 functions as the forward recognition unit 11, the reference path generation unit 12, the safety area setting unit 13, the target path generation unit 14, and the driving control unit 15.

前方認識部１１は、外部センサ９からの信号に基づいて、自車両１の進行方向を中心とする車両前方の道路上の区画線、縁石、ガードレール等の位置を認識することで、自車両１が走行する走行車線２および走行車線２に隣接する隣接車線５ａ，５ｂを認識する。また、隣接車線５ａ，５ｂを走行する他車両４ａ，４ｂの輪郭の位置を認識することで、他車両４ａ，４ｂを認識する。 The forward recognition unit 11 recognizes the positions of dividing lines, curbs, guardrails, etc. on the road ahead of the vehicle 1, centered on the traveling direction of the vehicle 1, based on signals from the external sensor 9, thereby recognizing the driving lane 2 in which the vehicle 1 is traveling and the adjacent lanes 5a, 5b adjacent to the driving lane 2. In addition, the forward recognition unit 11 recognizes the positions of the contours of other vehicles 4a, 4b traveling in the adjacent lanes 5a, 5b, thereby recognizing other vehicles 4a, 4b.

図４Ａは、基準経路生成部１２および目標経路生成部１４による基準経路３ａおよび目標経路３ｂの生成について説明するための図である。基準経路生成部１２は、前方認識部１１による走行車線２の認識結果に基づいて、走行車線２における自車両１の基準経路３ａを生成する。一般的な道路形状は、曲率が一定の割合で変化するクロソイド曲線を用いて設計されており、道路形状に対応するクロソイド曲線の一部の区間は、３次関数等の高次関数を用いて近似することができる。 Figure 4A is a diagram for explaining the generation of the reference path 3a and the target path 3b by the reference path generation unit 12 and the target path generation unit 14. The reference path generation unit 12 generates a reference path 3a for the host vehicle 1 in the driving lane 2 based on the recognition result of the driving lane 2 by the forward recognition unit 11. A typical road shape is designed using a clothoid curve whose curvature changes at a constant rate, and some sections of the clothoid curve corresponding to the road shape can be approximated using higher-order functions such as cubic functions.

基準経路生成部１２は、前方認識部１１による認識結果に基づいて走行車線２に対する自車両１の進行方向を特定し、自車両１の現地点を原点Ｏ、特定された進行方向をＸ軸として、走行車線２の中央線２Ｃを表す３次関数Ｆ（Ｘ）を導出する。すなわち、最小二乗法等のカーブフィッティング手法を用いて、前方認識部１１により認識された左右の区画線（あるいは縁石、ガードレール等）２Ｌ，２Ｒを近似する下式(i)，(ii)の３次関数ＦL（Ｘ），ＦR（Ｘ）を導出する。
ＦL（Ｘ）＝Ｃ3LＸ3＋Ｃ2LＸ2＋Ｃ1LＸ＋Ｃ0L ・・・(i)
ＦR（Ｘ）＝Ｃ3RＸ3＋Ｃ2RＸ2＋Ｃ1RＸ＋Ｃ0R ・・・(ii) The reference path generation unit 12 specifies the traveling direction of the vehicle 1 relative to the driving lane 2 based on the recognition result by the forward recognition unit 11, and derives a cubic function F(X) representing the center line 2C of the driving lane 2, with the current point of the vehicle 1 as the origin O and the specified traveling direction as the X-axis. That is, using a curve fitting method such as the least squares method, the reference path generation unit 12 derives the cubic functions F L (X) and F R (X) of the following equations (i) and (ii) that approximate the left and right dividing lines (or curbs, guardrails, etc.) 2L and 2R recognized by the forward recognition unit 11.
F L (X) = C 3L X 3 + C 2L X 2 + C 1L X + C 0L ... (i)
F R (X) = C 3 R X 3 + C 2 R X 2 + C 1 R X + C 0 R ... (ii)

次いで、左右の区画線２Ｌ，２Ｒに対応する３次関数ＦL（Ｘ），ＦR（Ｘ）に基づいて走行車線２の中央線２Ｃに対応する下式(iii)の３次関数Ｆ（Ｘ）を導出し、導出された３次関数Ｆ（Ｘ）で表される中央線２Ｃに沿って基準経路３ａを生成する。
Ｆ（Ｘ）＝Ｃ3Ｘ3＋Ｃ2Ｘ2＋Ｃ1Ｘ＋Ｃ0 ・・・(iii)
Ｃ3＝（Ｃ3L＋Ｃ3R）／２，Ｃ2＝（Ｃ2L＋Ｃ2R）／２，
Ｃ1＝（Ｃ1L＋Ｃ1R）／２，Ｃ0＝（Ｃ0L＋Ｃ0R）／２ Next, a cubic function F(X) of the following equation (iii) corresponding to the center line 2C of the driving lane 2 is derived based on the cubic functions F L (X) and F R (X) corresponding to the left and right dividing lines 2L and 2R, and a reference path 3a is generated along the center line 2C represented by the derived cubic function F(X).
F(X) = C3X3 + C2X2 + C1X + C0 ... (iii)
C3 = ( C3L + C3R ) / 2, C2 = ( C2L + C2R ) / 2,
C1 = ( C1L + C1R ) / 2, C0 = ( C0L + C0R ) / 2

安全領域設定部１３は、前方認識部１１により認識された他車両４ａの側端部から、走行車線２における自車両１の基準経路３ａに向かう所定距離Ｗ以内の領域を、安全領域６ａとして設定する。より具体的には、図４Ａに示すように、前方認識部１１による認識結果に基づいて他車両４ａの側端部のＹ座標Ｙaを特定し、安全領域６ａの側端部のＹ座標ＹR（ＹR＝Ｙa＋Ｗ）を特定することで、安全領域６ａ（Ｙa≦Ｙ≦ＹR）を設定する。 The safety area setting unit 13 sets, as a safety area 6a, an area within a predetermined distance W from the side edge of the other vehicle 4a recognized by the forward recognition unit 11 toward the reference path 3a of the host vehicle 1 in the driving lane 2. More specifically, as shown in Fig. 4A, the safety area setting unit 13 specifies the Y coordinate Ya of the side edge of the other vehicle 4a based on the recognition result by the forward recognition unit 11, and specifies the Y coordinate YR ( YR = Ya + W) of the side edge of the safety area 6a, thereby setting the safety area 6a ( Ya ≦ Y ≦ YR ).

目標経路生成部１４は、自車両１からその所定距離Ｌ前方に設定される認識カット区間ＡＲ内（０≦Ｘ≦Ｌ）では、基準経路生成部１２により生成された基準経路３ａを修正することなく、そのまま自車両１の目標経路３ｂとして設定する。より具体的には、自車両１の基準経路３ａと他車両４ａとの間で安全領域６ａが確保されない場合（ＹR≧Ｆ（Ｘ））でも、安全領域６ａが確保されない地点が認識カット区間ＡＲ内（０≦Ｘ≦Ｌ）であれば、基準経路３ａを修正せず目標経路３ｂに設定する。これにより、自車両１が走行する走行車線２に寄って走行する他車両４ａが自車両１を追越した直後に認識された場合でも、目標経路３ｂの不要な急変を抑制することができる。 The target route generating unit 14 does not modify the reference route 3a generated by the reference route generating unit 12 within a recognition cut section AR (0≦X≦L) that is set a predetermined distance L ahead of the host vehicle 1, and sets it as the target route 3b of the host vehicle 1 as it is. More specifically, even if a safety area 6a is not secured between the reference route 3a of the host vehicle 1 and another vehicle 4a ( YR ≧F(X)), if the point where the safety area 6a is not secured is within the recognition cut section AR (0≦X≦L), the reference route 3a is set as the target route 3b without modification. This makes it possible to suppress unnecessary sudden changes in the target route 3b even if another vehicle 4a traveling close to the driving lane 2 in which the host vehicle 1 is traveling is recognized immediately after overtaking the host vehicle 1.

認識カット区間ＡＲの所定距離Ｌは、車速センサ８により検出された車速Ｖに基づいて、所定時間ｔ0（例えば０．９秒程度）後に自車両１が到達する距離として設定される（Ｌ＝Ｖｔ0）。認識カット区間ＡＲの所定距離Ｌは、車速Ｖによらず一定の距離として設定されてもよい。認識カット区間ＡＲの所定距離Ｌは、走行中の道路の制限速度等に応じて設定されてもよい。 The predetermined distance L of the recognition cut-off section AR is set as the distance that the host vehicle 1 will reach after a predetermined time t0 (e.g., about 0.9 seconds) based on the vehicle speed V detected by the vehicle speed sensor 8 (L= Vt0 ). The predetermined distance L of the recognition cut-off section AR may be set as a constant distance regardless of the vehicle speed V. The predetermined distance L of the recognition cut-off section AR may be set according to the speed limit of the road on which the host vehicle 1 is traveling, or the like.

図４Ｂは、認識カット区間ＡＲの変形例を示す図である。認識カット区間ＡＲは、図４Ａに示すように、自車両１の前方の左右方向にわたる平面視略矩形状の領域として設定されてもよく、図４Ｂに示すように、自車両１の前方の左右方向にわたる平面視略台形状の領域として設定されてもよい。この場合、例えば走行車線２から離間するほど所定距離Ｌが短くなるように設定される。 Figure 4B is a diagram showing a modified example of the recognition cut section AR. The recognition cut section AR may be set as a generally rectangular area in plan view extending in the left-right direction in front of the vehicle 1 as shown in Figure 4A, or may be set as a generally trapezoidal area in plan view extending in the left-right direction in front of the vehicle 1 as shown in Figure 4B. In this case, for example, the predetermined distance L is set to be shorter the further away from the driving lane 2.

目標経路生成部１４は、認識カット区間ＡＲよりも前方（Ｘ＞Ｌ）では、図２に示すように、自車両１と他車両４ａとの間に安全領域６ａを確保するように基準経路３ａを修正して目標経路３ｂを生成する。より具体的には、認識カット区間ＡＲを越えた地点で自車両１の基準経路３ａと他車両４ａとの間で安全領域６ａが確保されないと判定される場合（ＹR≧Ｆ（Ｘ），Ｘ＞Ｌ）は、安全領域６ａを確保するように基準経路３ａを修正して目標経路３ｂを生成する。 The target path generating unit 14 generates a target path 3b by modifying the reference path 3a so as to secure a safety area 6a between the host vehicle 1 and the other vehicle 4a ahead of the recognition cut-off section AR (X>L), as shown in Fig. 2. More specifically, when it is determined that the safety area 6a is not secured between the reference path 3a of the host vehicle 1 and the other vehicle 4a at a point beyond the recognition cut-off section AR ( YR ≥ F(X), X>L), the target path generating unit 14 modifies the reference path 3a so as to secure the safety area 6a, and generates the target path 3b.

走行制御部１５は、目標経路生成部１４により生成された目標経路３ｂに基づいて、自車両１の運転者に対する運転支援を行うないし自車両１を自動運転するように走行用アクチュエータ７を制御する。これにより、目標経路３ｂの急変を抑制し、安定した目標経路３ｂに沿って自車両１を走行させることができる。 The driving control unit 15 provides driving assistance to the driver of the vehicle 1 or controls the driving actuator 7 to automatically drive the vehicle 1 based on the target route 3b generated by the target route generation unit 14. This makes it possible to suppress sudden changes in the target route 3b and to drive the vehicle 1 along a stable target route 3b.

図５は、装置１００による経路生成処理の流れを例示するフローチャートであり、装置１００の演算部で実行されるプログラムの処理の流れを示す。図５の処理は、例えば自車両１が始動してＥＣＵ１０が起動されると開始され、所定周期で繰り返される。 Figure 5 is a flowchart illustrating the flow of route generation processing by the device 100, and shows the flow of processing of a program executed by the calculation unit of the device 100. The processing of Figure 5 is started, for example, when the vehicle 1 starts and the ECU 10 is activated, and is repeated at a predetermined interval.

先ずステップＳ１で、外部センサ９からの信号に基づいて自車両１が走行する走行車線２および隣接車線５ａ，５ｂを走行する他車両４ａ，４ｂが認識され、認識結果に基づいて基準経路３ａが生成されるとともに安全領域６ａ，６ｂが設定される。次いでステップＳ２で、ステップＳ１で生成された基準経路３ａと他車両４ａ，４ｂとの間にステップＳ２で設定された安全領域６ａ，６ｂが確保されるか否かが判定される。ステップＳ２で否定されると処理がステップＳ３に進み、肯定されると処理がステップＳ５に進む。 First, in step S1, the lane 2 in which the vehicle 1 is traveling and the other vehicles 4a, 4b traveling in the adjacent lanes 5a, 5b are recognized based on signals from the external sensor 9, and a reference path 3a is generated and safety areas 6a, 6b are set based on the recognition results. Next, in step S2, it is determined whether the safety areas 6a, 6b set in step S2 are secured between the reference path 3a generated in step S1 and the other vehicles 4a, 4b. If the result in step S2 is negative, the process proceeds to step S3, and if the result is positive, the process proceeds to step S5.

ステップＳ３では、安全領域６ａ，６ｂが確保されない地点が認識カット区間ＡＲ内であるか否かが判定される。ステップＳ３で否定されると処理がステップＳ４に進み、肯定されると処理がステップＳ５に進む。ステップＳ４では、ステップＳ１で生成された基準経路３ａが目標経路３ｂに設定される。ステップＳ５では、ステップＳ１で生成された基準経路３ａと他車両４ａ，４ｂとの間にステップＳ２で設定された安全領域６ａ，６ｂを確保するように、ステップＳ１で生成された基準経路３ａを修正して目標経路３ｂが生成される。 In step S3, it is determined whether the point where the safety areas 6a, 6b are not secured is within the recognition cut section AR. If the result in step S3 is negative, the process proceeds to step S4, and if the result is positive, the process proceeds to step S5. In step S4, the reference path 3a generated in step S1 is set as the target path 3b. In step S5, the reference path 3a generated in step S1 is modified to generate the target path 3b so as to secure the safety areas 6a, 6b set in step S2 between the reference path 3a generated in step S1 and the other vehicles 4a, 4b.

本実施形態によれば以下のような作用効果を奏することができる。
（１）装置１００は、自車両１の前方領域の物体を検出する外部センサ９と、外部センサ９により検出された物体のうち、自車両１が走行する走行車線２に隣接する隣接車線５ａ，５ｂを走行する他車両４ａ，４ｂを認識する前方認識部１１と、走行車線２における自車両１の基準経路３ａを生成する基準経路生成部１２と、前方認識部１１により認識された他車両４ａ，４ｂの側端部から走行車線２に向けて安全領域６ａ，６ｂを設定する安全領域設定部１３と、基準経路生成部１２により生成された基準経路３ａに基づいて自車両１の目標経路３ｂを生成する目標経路生成部１４とを備える（図３）。 According to this embodiment, the following advantageous effects can be obtained.
(1) The device 100 includes an external sensor 9 that detects objects in the area ahead of the host vehicle 1, a forward recognition unit 11 that recognizes, among the objects detected by the external sensor 9, other vehicles 4a, 4b traveling in adjacent lanes 5a, 5b adjacent to the driving lane 2 in which the host vehicle 1 is traveling, a reference path generation unit 12 that generates a reference path 3a for the host vehicle 1 in the driving lane 2, a safety area setting unit 13 that sets safety areas 6a, 6b from the side ends of the other vehicles 4a, 4b recognized by the forward recognition unit 11 toward the driving lane 2, and a target path generation unit 14 that generates a target path 3b for the host vehicle 1 based on the reference path 3a generated by the reference path generation unit 12 (Figure 3).

目標経路生成部１４は、自車両１からその前方の認識カット区間ＡＲ内において基準経路３ａを目標経路３ｂに設定し、認識カット区間ＡＲよりも前方において自車両１と前方認識部１１により認識された他車両４ａ，４ｂとの間に安全領域設定部１３により設定された安全領域６ａ，６ｂを確保するように基準経路３ａを修正して目標経路３ｂを生成する（図４Ａ、図４Ｂ）。これにより、自車両１が走行する走行車線２に寄って走行する他車両４ａが自車両１を追越した直後に認識された場合でも、目標経路３ｂの不要な急変を抑制することができる。 The target route generating unit 14 sets the reference route 3a as the target route 3b within the recognition cut section AR ahead of the host vehicle 1, and generates the target route 3b by modifying the reference route 3a so as to secure the safety areas 6a, 6b set by the safety area setting unit 13 between the host vehicle 1 and the other vehicles 4a, 4b recognized by the forward recognition unit 11 ahead of the recognition cut section AR (FIGS. 4A and 4B). This makes it possible to suppress unnecessary sudden changes in the target route 3b even if the other vehicle 4a traveling close to the driving lane 2 in which the host vehicle 1 is traveling is recognized immediately after overtaking the host vehicle 1.

（２）認識カット区間ＡＲは、自車両１の前方の左右方向にわたる、平面視略矩形状または略台形状の所定領域に設定される（図４Ａ、図４Ｂ）。自車両１の直前の領域に左右方向にわたって認識カット区間ＡＲを設けることで、自車両１の直前で他車両４ａ，４ｂが認識された場合でも、目標経路３ｂの不要な急変を確実に抑制することができる。 (2) The recognition cut section AR is set in a predetermined area that is generally rectangular or trapezoidal in plan view and extends left and right in front of the vehicle 1 (FIGS. 4A and 4B). By providing the recognition cut section AR in the left and right direction in the area immediately in front of the vehicle 1, unnecessary sudden changes in the target route 3b can be reliably suppressed even if other vehicles 4a, 4b are recognized immediately in front of the vehicle 1.

（３）装置１００は、自車両１の運転者に対する運転支援を行うないし自車両１を自動運転するように走行用アクチュエータ７を制御する走行制御部１５をさらに備える（図３）。走行制御部１５は、目標経路生成部１４により生成された目標経路３ｂに基づいて走行用アクチュエータ７を制御する。これにより、目標経路３ｂの急変を抑制し、安定した目標経路３ｂに沿って自車両１を走行させることができる。 (3) The device 100 further includes a driving control unit 15 that provides driving assistance to the driver of the vehicle 1 or controls the driving actuator 7 so as to automatically drive the vehicle 1 (FIG. 3). The driving control unit 15 controls the driving actuator 7 based on the target route 3b generated by the target route generation unit 14. This makes it possible to suppress sudden changes in the target route 3b and to drive the vehicle 1 along the stable target route 3b.

上記実施形態では、カメラ９ａとミリ波レーダやライダ等の距離検出部９ｂとを含む外部センサ９を例示して説明したが、自車両の前方領域の物体を検出する検出部は、このようなものに限らない。例えば、カメラ９ａにより撮像された車両前方の画像データに基づいて自車両１から前方領域の物体までの距離を検出してもよい。この場合、カメラ９ａのみで外部センサ９を構成してもよい。 In the above embodiment, an external sensor 9 including a camera 9a and a distance detection unit 9b such as a millimeter wave radar or a lidar was described as an example, but the detection unit that detects objects in the area ahead of the vehicle is not limited to this. For example, the distance from the vehicle 1 to an object in the area ahead may be detected based on image data of the area ahead of the vehicle captured by the camera 9a. In this case, the external sensor 9 may be configured with only the camera 9a.

上記実施形態では、基準経路生成部１２が走行車線２の中央線２Ｃに沿った基準経路３ａを生成する例を説明したが、走行車線における自車両の基準経路を生成する基準経路生成部は、このようなものに限らない。例えば、走行車線２に沿って中央線２Ｃよりも道路の外側に寄った基準経路３ａを生成してもよい。 In the above embodiment, an example was described in which the reference path generating unit 12 generates a reference path 3a that follows the center line 2C of the driving lane 2, but the reference path generating unit that generates a reference path for the host vehicle in a driving lane is not limited to this. For example, a reference path 3a that follows the driving lane 2 and is closer to the outside of the road than the center line 2C may be generated.

上記実施形態では、装置１００が走行制御部１５を備える例を説明したが、経路生成装置は、このようなものに限らない。例えば、目標経路生成部１４により生成された目標経路３ｂを車両前方の道路に重畳して表示するようにヘッドアップディスプレイ等の表示部を制御する表示制御部を備えるものでもよい。 In the above embodiment, an example was described in which the device 100 includes a driving control unit 15, but the route generation device is not limited to this. For example, the device may include a display control unit that controls a display unit such as a head-up display so that the target route 3b generated by the target route generation unit 14 is displayed superimposed on the road ahead of the vehicle.

以上の説明はあくまで一例であり、本発明の特徴を損なわない限り、上述した実施形態および変形例により本発明が限定されるものではない。上記実施形態と変形例の１つまたは複数を任意に組み合わせることも可能であり、変形例同士を組み合わせることも可能である。 The above description is merely an example, and the present invention is not limited to the above-mentioned embodiment and modifications, as long as the characteristics of the present invention are not impaired. It is also possible to arbitrarily combine one or more of the above-mentioned embodiment and modifications, and it is also possible to combine modifications together.

１ 自車両、２ 走行車線、３ａ 基準経路、３ｂ 目標経路、４ａ，４ｂ 他車両、５ａ，５ｂ 隣接車線、６ａ，６ｂ 安全領域、７ 走行用アクチュエータ、８ 車速センサ、９ 外部センサ、９ａ カメラ、９ｂ 距離検出部、１０ 電子制御ユニット（ＥＣＵ）、１１ 前方認識部、１２ 基準経路生成部、１３ 安全領域設定部、１４ 目標経路生成部、１５ 走行制御部、１００ 経路生成装置（装置）、ＡＲ 認識カット区間 1 Vehicle, 2 Travel lane, 3a Reference route, 3b Target route, 4a, 4b Other vehicles, 5a, 5b Adjacent lanes, 6a, 6b Safety area, 7 Travel actuator, 8 Vehicle speed sensor, 9 External sensor, 9a Camera, 9b Distance detection unit, 10 Electronic control unit (ECU), 11 Forward recognition unit, 12 Reference route generation unit, 13 Safety area setting unit, 14 Target route generation unit, 15 Travel control unit, 100 Route generation device (device), AR recognition cut section

Claims (3)

自車両の前方領域の物体を検出する検出部と、
前記検出部により検出された物体のうち、自車両が走行する走行車線、前記走行車線に隣接する隣接車線、および前記隣接車線を走行する他車両を認識する前方認識部と、
前記前方認識部により認識された前記走行車線に基づいて前記走行車線における自車両の基準経路を生成する基準経路生成部と、
前記前方認識部により認識された他車両の側端部から前記走行車線に向けて安全領域を設定する安全領域設定部と、
前記基準経路生成部により生成された基準経路に基づいて自車両の目標経路を生成する目標経路生成部と、を備え、
前記目標経路生成部は、自車両からその前方の所定区間内において前記基準経路を前記目標経路に設定し、前記所定区間よりも前方において自車両と前記前方認識部により認識された他車両との間に前記安全領域設定部により設定された安全領域を確保するように前記基準経路を修正して前記目標経路を生成することを特徴とする経路生成装置。 A detection unit that detects an object in a forward area of the host vehicle;
a forward recognition unit that recognizes, among the objects detected by the detection unit, a lane in which the host vehicle is traveling , an adjacent lane adjacent to the traveling lane , and another vehicle traveling in the adjacent lane ;
a reference path generating unit that generates a reference path of the host vehicle in the driving lane based on the driving lane recognized by the forward recognition unit ;
a safety area setting unit that sets a safety area from a side end of the other vehicle recognized by the forward recognition unit toward the driving lane;
a target route generating unit that generates a target route of the host vehicle based on the reference route generated by the reference route generating unit,
The target route generation unit sets the reference route as the target route within a specified section ahead of the host vehicle, and generates the target route by modifying the reference route so as to secure the safety area set by the safety area setting unit between the host vehicle and another vehicle recognized by the forward recognition unit ahead of the specified section. 請求項１に記載の経路生成装置において、
前記所定区間は、自車両の前方の左右方向にわたる、平面視略矩形状または略台形状の所定領域に設定されることを特徴とする経路生成装置。 The route generating device according to claim 1 ,
A route generation device characterized in that the specified section is set to a specified area that is approximately rectangular or trapezoidal in a plan view and extends in the left-right direction in front of the vehicle. 請求項１または２に記載の経路生成装置において、
自車両の運転者に対する運転支援を行うないし自車両を自動運転するように走行用アクチュエータを制御する走行制御部をさらに備え、
前記走行制御部は、前記目標経路生成部により生成された目標経路に基づいて前記走行用アクチュエータを制御することを特徴とする経路生成装置。 3. The route generating device according to claim 1,
A driving control unit that provides driving assistance to a driver of the vehicle or controls a driving actuator to automatically drive the vehicle,
The route generation device, wherein the travel control unit controls the travel actuators based on the target route generated by the target route generation unit.
JP2022008736A 2022-01-24 2022-01-24 Route Generation Device Active JP7499797B2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2022008736A JP7499797B2 (en) 2022-01-24 2022-01-24 Route Generation Device
CN202310013706.0A CN116476860A (en) 2022-01-24 2023-01-05 Path generation device and path generation method
US18/098,691 US20230234608A1 (en) 2022-01-24 2023-01-18 Path generation apparatus and path generation method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2022008736A JP7499797B2 (en) 2022-01-24 2022-01-24 Route Generation Device

Publications (2)

Publication Number Publication Date
JP2023107501A JP2023107501A (en) 2023-08-03
JP7499797B2 true JP7499797B2 (en) 2024-06-14

Family

ID=87220212

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022008736A Active JP7499797B2 (en) 2022-01-24 2022-01-24 Route Generation Device

Country Status (3)

Country Link
US (1) US20230234608A1 (en)
JP (1) JP7499797B2 (en)
CN (1) CN116476860A (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010202139A (en) 2009-03-05 2010-09-16 Nissan Motor Co Ltd Driving operation support device and driving operation support method
JP2017206182A (en) 2016-05-20 2017-11-24 アイシン・エィ・ダブリュ株式会社 Automatic drive support device and computer program
JP2019101854A (en) 2017-12-05 2019-06-24 株式会社デンソー Trajectory designation system
JP2020114689A (en) 2019-01-17 2020-07-30 マツダ株式会社 Vehicle driving support system
JP2021126979A (en) 2020-02-13 2021-09-02 マツダ株式会社 Vehicle control device
JP2021126981A (en) 2020-02-13 2021-09-02 マツダ株式会社 Vehicle control device
JP2021160371A (en) 2020-03-30 2021-10-11 マツダ株式会社 Travel path generating system and vehicle drive support system
JP2021172095A (en) 2020-04-17 2021-11-01 マツダ株式会社 Vehicle control device

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010202139A (en) 2009-03-05 2010-09-16 Nissan Motor Co Ltd Driving operation support device and driving operation support method
JP2017206182A (en) 2016-05-20 2017-11-24 アイシン・エィ・ダブリュ株式会社 Automatic drive support device and computer program
JP2019101854A (en) 2017-12-05 2019-06-24 株式会社デンソー Trajectory designation system
JP2020114689A (en) 2019-01-17 2020-07-30 マツダ株式会社 Vehicle driving support system
JP2021126979A (en) 2020-02-13 2021-09-02 マツダ株式会社 Vehicle control device
JP2021126981A (en) 2020-02-13 2021-09-02 マツダ株式会社 Vehicle control device
JP2021160371A (en) 2020-03-30 2021-10-11 マツダ株式会社 Travel path generating system and vehicle drive support system
JP2021172095A (en) 2020-04-17 2021-11-01 マツダ株式会社 Vehicle control device

Also Published As

Publication number Publication date
CN116476860A (en) 2023-07-25
US20230234608A1 (en) 2023-07-27
JP2023107501A (en) 2023-08-03

Similar Documents

Publication Publication Date Title
US11970163B2 (en) Lane change assist device
US10600324B2 (en) Lane change assist device
JP7132713B2 (en) Vehicle cruise control device, vehicle cruise control system, and vehicle cruise control method
US10661794B2 (en) Driving assistance device
JP6311889B2 (en) Vehicle control device, vehicle control method, and vehicle control program
JP2018103941A (en) Vehicle assisting device
JP6524943B2 (en) Driving support device
JP6805105B2 (en) Control target vehicle setting device, control target vehicle setting system, and control target vehicle setting method
JP6600889B2 (en) Vehicle control device, vehicle control method, and program
US20190256104A1 (en) Driver assistance control device of a vehicle, driver assistance control method of a vehicle and driver assistance system
CN113511201A (en) Vehicle travel control device
JP6535537B2 (en) Driving support device for vehicle
CN111918803A (en) Vehicle driving support control device, vehicle driving support system, and vehicle driving support control method
JP2004249846A (en) Operation control auxiliary device for vehicle and vehicle with the device
JP7499797B2 (en) Route Generation Device
US20230097675A1 (en) Driving assistance device, driving assistance method, and storage medium
JP7522795B2 (en) Route Generation Device
JP2023019012A (en) Drive support device of vehicle
JP6832261B2 (en) Vehicle control devices, vehicle control methods, and programs
JP2005125933A (en) Driving operation auxiliary device for vehicle and vehicle equipped with the device
JP7458428B2 (en) route generation device
JP7421692B2 (en) Vehicle control device
JP7510446B2 (en) Route Generation Device
US20230202466A1 (en) Drive assist apparatus, drive assist method, and program
JP3772813B2 (en) VEHICLE DRIVE OPERATION ASSISTANCE DEVICE, VEHICLE DRIVE OPERATION ASSISTANCE METHOD, AND VEHICLE USING THE METHOD

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20220928

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20231205

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240201

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20240528

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20240604

R150 Certificate of patent or registration of utility model

Ref document number: 7499797

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150